Detection pins to determine presence of surgical instrument and adapter on manipulator
An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first proximal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a distal end of the detection pin. A carriage controller provides an indication that the surgical instrument is coupled to the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than an instrument removal threshold value of less than the instrument threshold value.
1. An instrument carriage for providing control of a surgical instrument attached to the instrument carriage, the instrument carriage comprising:
a control surface that attaches to the surgical instrument to provide control of the surgical instrument;
a first detection pin coupled to the instrument carriage, the first detection pin having a first distal end that extends from the control surface;
a first magnet fixed to a first proximal end of the first detection pin;
a carriage controller;
a circuit board fixed to the instrument carriage;
a first Hall effect sensor fixed to the circuit board facing the first magnet, the first Hall effect sensor providing a first output signal that is communicatively coupled to the carriage controller, the carriage controller providing an indication that the surgical instrument is present on the instrument carriage when movement of the first detection pin causes the first output signal to exceed a first instrument presence threshold value that is stored in the carriage controller as part of a calibration procedure during assembly of the instrument carriage.
2. The instrument carriage of claim 1 wherein the carriage controller provides an indication that an instrument sterile adapter (ISA) is present on the instrument carriage when movement of the first detection pin causes the first output signal to exceed a first ISA threshold value that is stored in the carriage controller as part of the calibration procedure during assembly of the instrument carriage.
3. The instrument carriage of claim 1 wherein an instrument sterile adapter is attached to the instrument carriage and the surgical instrument is attached to the instrument carriage through the instrument sterile adapter, the instrument sterile adapter including a first presence pin to extend the first distal end of the first detection pin.
4. The instrument carriage of claim 1 wherein the carriage controller provides an indication that the surgical instrument is removed from the instrument carriage when movement of the first detection pin causes the first output signal to be less than a first instrument removal threshold value that is less than the first instrument presence threshold value.
5. The instrument carriage of claim 1 wherein the control surface includes a well and the first distal end is within the well to protect the first detection pin from horizontal forces.
6. The instrument carriage of claim 1 further comprising:
a second detection pin coupled to the instrument carriage, the second detection pin having a second distal end that extends from the control surface spaced apart from the first distal end;
a second magnet fixed to a second proximal end of the second detection pin;
a second Hall effect sensor fixed to the circuit board facing the second magnet, the second Hall effect sensor providing a second output signal that is communicatively coupled to the carriage controller, the carriage controller providing the indication that the surgical instrument is present on the instrument carriage further requires movement of the second detection pin causing the second output signal to exceed a second instrument presence threshold value that is stored in the carriage controller as part of the calibration procedure during assembly of the instrument carriage.
7. A method for detecting presence of a surgical instrument coupled to an instrument carriage, the method comprising:
receiving a first output signal from a first sensor fixed in position relative to the instrument carriage, the first output signal being responsive to motion of a first detection pin created by presence of the surgical instrument;
calibrating the first sensor by depressing the first detection pin a first known distance and storing a first instrument presence threshold value according to the first output signal; and
indicating that the surgical instrument is present on the instrument carriage when movement of the first detection pin causes the first output signal to exceed the first instrument presence threshold value.
8. The method of claim 7 further comprising:
storing a first ISA threshold value that is less than the first instrument presence threshold value; and
indicating that an instrument sterile adapter (ISA) is present on the instrument carriage when movement of the first detection pin causes the first output signal to exceed the first ISA threshold value.
9. The method of claim 7 further comprising:
attaching an instrument sterile adapter to the instrument carriage to receive the surgical instrument; and
extending a first distal end of the first detection pin with a first presence pin that is loosely held within the instrument sterile adapter.
10. The method of claim 7 further comprising indicating that the surgical instrument is removed from the instrument carriage when movement of the first detection pin causes the first output signal to be less than a first instrument removal threshold value that is less than the first instrument presence threshold value.
11. The method of claim 7 further comprising protecting the first detection pin from horizontal forces by locating a first distal end of the first detection pin within a well.
12. The method of claim 7 further comprising:
receiving a second output signal from a second sensor fixed in position relative to the instrument carriage, the second output signal being responsive to motion of a second detection pin created by presence of the surgical instrument;
calibrating the second sensor by depressing the second detection pin a second known distance and storing a second instrument presence threshold value according to the second output signal; and
indicating that the surgical instrument is present on the instrument carriage only when movement of the second detection pin causes the second output signal to exceed the second instrument presence threshold value in addition to the first output signal exceeding the first instrument presence threshold value.
13. The method of claim 7 wherein calibrating the first sensor further comprises depressing the first detection pin a third known distance and storing a third instrument presence threshold value according to the first output signal, and the method further comprises indicating an additional state of the surgical instrument when movement of the first detection pin causes the first output signal to be more than the third instrument presence threshold value.
14. The instrument carriage of claim 1 wherein the carriage controller provides an indication of an additional state of the surgical instrument when movement of the first detection pin causes the first output signal to exceed a third instrument presence threshold value that is stored in the carriage controller as part of the calibration procedure during assembly of the instrument carriage.
15. An instrument carriage for providing control of a surgical instrument attached to the instrument carriage, the instrument carriage comprising:
a control surface that attaches to the surgical instrument to provide control of the surgical instrument;
a first detection pin coupled to the instrument carriage, the first detection pin having a first distal end that extends from the control surface;
a first magnet fixed to a first proximal end of the first detection pin;
means for providing an indication that the surgical instrument is present on the instrument carriage responsive to movement of the first detection pin.
16. The instrument carriage of claim 15 wherein the means for providing an indication further provides an indication that an instrument sterile adapter (ISA) is present on the instrument carriage responsive to movement of the first detection pin.
17. The instrument carriage of claim 15 wherein the means for providing an indication further provides an indication that the surgical instrument is removed from the instrument carriage responsive to movement of the first detection pin.
18. The instrument carriage of claim 15 wherein the means for providing an indication further provides an indication of an additional state of the surgical instrument responsive to movement of the first detection pin.